Nonholonomic Motion Planning of Space Robotics Based on the Genetic Algorithm with Wavelet Approximation

Author

Ge, Xin-Sheng ; Li, Hong ; Zhang, Qi-Zhi

Author_Institution

Beijing Inst. of Machinery, Beijing

fYear

2007

fDate

May 30 2007-June 1 2007

Firstpage

1977

Lastpage

1980

Abstract

The genetic algorithm with wavelet approximation is applied to nonholonomic motion planning. The problem of nonholonomic motion planning is formulated as an optimal control problem for a drift-free control system. The genetic algorithm is proposed to search for the optimal solution, instead of traditional optimal method of Newton iteration. The control input is approximated by the discrete orthogonal wavelets. The numerical simulation indicates that genetic algorithm and wavelet approximation are effective to solve the space robotics problem of nonholonomic motion planning.

Keywords

aerospace robotics; discrete wavelet transforms; function approximation; genetic algorithms; mobile robots; optimal control; path planning; search problems; discrete orthogonal wavelet approximation; drift-free control system; genetic algorithm; nonholonomic motion planning; optimal control problem; search problem; space robotics; Equations; Genetic algorithms; Machinery; Motion control; Motion planning; Optimal control; Orbital robotics; Robot kinematics; Robotics and automation; Transmission line matrix methods; genetic algorithm; nonholonomic motion planning; space robot; wavelet;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2007. ICCA 2007. IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

978-1-4244-0818-4

Electronic_ISBN

978-1-4244-0818-4

Type

conf

DOI

10.1109/ICCA.2007.4376706

Filename

4376706